Three-dimensional Acupuncture Forming Trajectory Planning And Acupuncture Simulation Of Special-shaped Component Prefabricated Robot

Three-dimensional needle-punching technology is a low-cost fabric preparation technology for textile structure composite materials.It has the advantages of simple molding process,high degree of automation and low cost.The three-dimensional needle-punching composite material overcomes the disadvantages of the poor interlaminar performance of traditional laminated composite material,and the low impact toughness and low damage tolerance;meanwhile,it has the advantages of high strength and stiffness like the three-dimensional braided composites and has been applied more and more widely.At present,three-dimensional needle-punching composites have been applied to expansion of the rocket engine segment,extension cone,combustion chamber throat lining,brake discs and other structural components.Based on the low cost,lightweight and high-performance manufacturing of aircraft radome,this paper proposed a new method for fabricating aircraft radome by three-dimensional needle-punching forming technology.It is closely linked with the main design line of "process-equipment".To carry out robot needle-punching trajectory planning and forming simulation for complex components,the main research contents include the following four parts.Aiming at the key technical requirements of automated three-dimensional needle-punching of shaped curved preform,a rectangular needle-punching robot and a 6-joints needle-punching robot system were constructed.The integrated design of the mechanical system and control system were completed and relevant experimental was used to verify the system.Based on the comparative analysis of experimental results,the three-dimensional needle-punching robot configuration design was further optimized.A robot trajectory planning method for manufacturing of complex multi-curvature freeform preform was developed.The main research contents included the generation method of needle-punching points and auxiliary points based on CATIA(Computer Aided Three Dimensional Interactive Application System),calculation method of rotation matrix based on Python,calculation method of Euler angles based on Python,efficient generation of robotic executables,off-line robot simulation based on K-ROSET,and finally verifying the correctness of the path planning method through experiments.A fiber model of collimating fiber and big bending fiber was proposed.Based on the model,a free-growth algorithm of fiber was constructed and a method based on "layered free growth/one time deposition " was proposed to reconstruct the non-overlapping carded mat with large aspect ratio.The homogeneity and multi-material hybrid fiber mat models were generated.Compared with the experimental results,the feasibility of the algorithm was verified.The digital model of the short-cut fiber mat deposited would provide the digital model basis for the subsequent three-dimensional needle-punching forming simulation.Experimental research on the three-dimensional needle-punching and fabric thickness and volume fraction variation were carried out.Based on the comparison of the experimental test and numerical simulation of needle-punching resistance,the friction coefficient of the numerical model was optimized.The needle-punching forming simulation study was carried out,and compared with the thickness variation of the experiment to verify the correctness of the numerical simulation of three-dimensional needle-punching.